EP1987370B1 - Disposition de capteur/activateur et procede pour la localisation respectivement le guidage d'objets et/ou de personnes mobiles sur une surface a l'aide d'une disposition de capteur/activateur - Google Patents

Disposition de capteur/activateur et procede pour la localisation respectivement le guidage d'objets et/ou de personnes mobiles sur une surface a l'aide d'une disposition de capteur/activateur Download PDF

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Publication number
EP1987370B1
EP1987370B1 EP07711197.9A EP07711197A EP1987370B1 EP 1987370 B1 EP1987370 B1 EP 1987370B1 EP 07711197 A EP07711197 A EP 07711197A EP 1987370 B1 EP1987370 B1 EP 1987370B1
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EP
European Patent Office
Prior art keywords
transmission
sensor
reception
surface covering
transmitting
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EP07711197.9A
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German (de)
English (en)
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EP1987370A1 (fr
Inventor
Axel Steinhage
Christl Lauterbach
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Future-Shape GmbH
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Future-Shape GmbH
Future Shape GmbH
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Publication of EP1987370A1 publication Critical patent/EP1987370A1/fr
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/20—Individual registration on entry or exit involving the use of a pass
    • G07C9/28—Individual registration on entry or exit involving the use of a pass the pass enabling tracking or indicating presence

Definitions

  • the invention relates to a sensor / actuator arrangement and a method for localizing or guiding of moving objects and / or persons with the aid of a sensor / actuator arrangement.
  • a flooring equipped with a self-organizing sensor network can be used, ie a sensor network in which the position of the individual network elements within the sensor network is automatically determined relative to a reference position. The determination of the respective position is carried out with local exchange of electronic messages only between immediately adjacent network elements.
  • This Self-organizing sensor network has the disadvantage that self-organization results in a high computational effort.
  • the integrated network elements therefore place a relatively high demand on the performance of the integrated processor and have a high memory requirement for the firmware.
  • the data ports of such a system are also confined to one side of the network, thereby potentially creating an installation and / or reliability problem during use.
  • Sensor signals are not forwarded directly to a central control unit, but are forwarded from node to node in the network. This has the disadvantage that the system becomes relatively slow, and that even signals may not be processed if the traffic on the network becomes too large.
  • an electrical household appliance with at least one sensor for detecting at least one operating parameter and at least one actuator for influencing at least one operating parameter of the household electrical appliance, wherein the at least one sensor and the at least one actuator electrically connected to a central computing and control unit Control of the household electrical appliance coupled, and wherein the central computing and control unit is coupled to a communication unit that allows wireless communication with an external remote station.
  • a method and a telematic device are disclosed for generating and transmitting traffic-relevant data, the data having been created with sensors on board a motor vehicle.
  • a method for collecting and processing traffic telematic data, wherein the data acquisition is performed by satellite-based acquisition systems.
  • [6] describes a system with passive RFID tags regularly distributed in a floor covering to locate people in order to facilitate orientation for blind people.
  • a versatile sensor network architecture in which a reading device communicates via radio waves with wireless sensor units and at the same time provides them with energy.
  • the invention is based on the problem of providing a system for locating and / or directing objects and / or persons which circumvents or at least partially obviates the disadvantages known from the prior art.
  • a sensor / actuator arrangement which has at least one sensor element and / or at least one actuator element. Furthermore, the sensor / actuator arrangement has at least one transmitting / receiving unit, which at least one transmitting / receiving unit has at least one first transmitting / receiving element and a second transmitting / receiving element for transmitting and / or receiving signals, wherein the first transmitting / receiving element is arranged such that one in the first transmitting / receiving element contained identification information can be read out wirelessly by means of a first communication channel, and wherein the second transmitting / receiving element is electrically coupled to the at least one sensor element and / or with the at least one actuator element, such that with the aid of the second transmitting / receiving element sensor signal provided by the at least one sensor element can be transmitted by means of a second communication channel and / or an actuator control signal received by means of the second communication channel can be provided to the at least one actuator element.
  • a sensor / actuator arrangement comprising a plurality of sensor elements and / or a plurality of actuator elements, and with a plurality of at least partially with each other and / or with the plurality of sensor elements and / or with the plurality of actuator elements electrically coupled transceiver units, wherein the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transmit - / receiving units are formed on or in the area.
  • the method with the aid of the sensor elements and / or the transmitting / receiving units, information about the positions of moving objects and / or persons located on the surface is acquired, which information is used to locate the objects and / or persons. Furthermore, with the aid of the actuator elements and / or the transceiver units, the objects and / or persons located on the surface are provided with information which serves to guide the objects and / or persons on the surface.
  • One aspect of the invention can be seen in that with the aid of the sensor / actuator arrangement both objects (such as autonomous robotic vehicles) and persons can be located.
  • the localization of, for example, a robot can be done by reading out the identification information contained in the first transmitting / receiving element, while the localization of a person can take place in that a person triggered by the sensor signal from the second coupled to the sensor element transmitting / receiving element as Wireless signal is sent.
  • a first communication channel different expressed in terms of a first transmission path, for the communication of the first transmitting / receiving element and a second communication channel (transmission path) for the communication of the second transmitting / receiving element can be distinguished in a localization process between objects and persons.
  • Another aspect of the invention can be seen in that with the aid of an actuator element which receives an actuator control signal, information can be provided to a person which, for example, can be used for an orientation of the person.
  • the first transmitting / receiving element of the at least one transmitting / receiving unit is set up such that the identification information contained in the first transmitting / receiving element is read out with the aid of a wireless signal having a first transmitting / receiving frequency can.
  • the identification information is read out by means of the first communication channel, which is designed as a wireless communication channel, in other words as a wireless transmission path for data, signals, information, etc.
  • the at least one transmitting / receiving unit has at least one electrical connection, wherein the second transmitting / receiving element of the at least one transmitting / receiving unit by means of the at least one electrical connection with the at least one sensor element and / or with the at least one actuator element is electrically coupled.
  • An aspect of the invention can be seen in that in the case of a sensor event of the sensor element, a sensor signal is triggered, which sensor signal at the with provided to the sensor element coupled second transmitting / receiving element.
  • the second transmitting / receiving element of the at least one transmitting / receiving unit is set up such that the sensor signal provided by the at least one sensor element can be transmitted as a wireless signal with a second transmitting / receiving frequency.
  • the second communication channel is in this case as a wireless communication channel, in other words as a wireless transmission path for data, signals, information, etc., formed.
  • the second transmitting / receiving element of the at least one transmitting / receiving unit is set up so that the actuator control signal can be received as a wireless signal with a third transmission / reception frequency.
  • the first transmission / reception frequency, the second transmission / reception frequency and the third transmission / reception frequency may be different in pairs.
  • the first transmission / reception frequency is denoted by f 1
  • the second transmission / reception frequency by f 2
  • the third transmission / reception frequency by f 3
  • two or all three of the three transmission / reception frequencies f 1 , f 2 , f 3 may have the same or substantially the same value.
  • the second transmission / reception frequency f 2 ie, the frequency of the wireless signal transmitted from the second transmission / reception element
  • the third transmission / reception frequency f 3 ie, the frequency of the actuator received by the second transmission / reception element Control signal
  • the second communication channel as a wired connection, in other words as a wired transmission path for data, signals, information, etc.
  • the sensor signal provided by the at least one sensor element can be sent by the second transmitting / receiving element as a wired signal and / or the actuator control signal can be received by the second transmitting / receiving element as a wired signal.
  • a trained as a wired connection second communication channel can be realized for example by at least one with the at least one transmitting / receiving unit, or the second transmitting / receiving element of the at least one transmitting / receiving unit, coupled power supply line or power supply line.
  • the data transmission or signal transmission i. the transmission of the sensor signal and / or the actuator control signal, by means of a PLC method (power line communication) take place.
  • An advantage of using a PLC method for transmitting the signals (sensor signal and / or actuator control signal) from the second transmitting / receiving element or to the second transmitting / receiving element can be seen in that one or more of the power supply or power supply of the at least one transmitting / receiving unit provided power lines or voltage lines for the signal transmission shared can be provided and therefore, for example, no additional signal lines for the signal transmission.
  • the transmission of the sensor signal and / or the actuator control signal may be carried out using an optical transmission path or means, for example using glass fibers or fiber optic cables.
  • At least one of the transceiver elements is designed as a radio frequency (RF) element (also referred to as an RF module), i. as a transmitting / receiving element, which has a transmission / reception frequency in the radio frequency range.
  • RF radio frequency
  • the first transmitting / receiving element is designed as an RF element, for example as a passive RF element.
  • a trained as a passive RF element first transmitting / receiving element can be functional without concern a supply voltage to the transmitting / receiving unit.
  • the first transmitting / receiving element designed as a passive RF element can obtain the energy required for its operation, for example from the wireless signal or radio signal (ie the electromagnetic field of the radio signal), which wireless signal for reading in the first transmission / reception element contained identifier information is used.
  • the first transmitting / receiving element can be designed, for example, as an RFID tag (Radio Frequency Identification Tag), for example as a passive RFID tag.
  • RFID tag Radio Frequency Identification Tag
  • the identification information contained in the first transmission / reception element (eg the RFID tag) is used as a for the at least one transmitting / receiving unit unique identification information is formed.
  • the unique identifier information can be realized in the form of a unique (unique) number, which number can already be specified during the manufacture of the first transmitting / receiving element and which number is read out for localization, for example by a robotic vehicle (which has a suitable reading device) can.
  • the first transmitting / receiving element embodied as an RF element can be written on, for example with the aid of a read / write device or a read / write device.
  • the first transceiver element e.g., the RFID tag
  • the first transceiver element may be described with information such as e.g. One or more coordinates (coordinate information), a floor number, a service date, etc.
  • the first transceiver element can be designed as a programmable element (for example a programmable RFID tag).
  • the second transmitting / receiving element is also designed as an RF element.
  • a second transmitting / receiving element embodied as an RF element has a second transmitting / receiving frequency f 2 (for transmitting the sensor signal) or third transmitting, which differs from the first transmitting / receiving frequency f 1 - / receive frequency f 3 (for receiving the actuator control signal).
  • f 2 ⁇ f 1 and f 3 ⁇ f 1 .
  • the second transmission / reception frequency f 2 ie the frequency with which one of a sensor element provided sensor signal is sent from a coupled to the sensor element second transmitting / receiving element as a wireless signal, equal to the third transmission / reception frequency f 3 be, ie equal to the frequency of an actuator control signal which is coupled by a coupled to an actuator element second transmission / Receive element is received.
  • the at least one transmitting / receiving unit comprises one or more of the following elements: a processor element (Central Processing Unit, CPU), a memory element, such as e.g. a flash memory element and / or a RAM memory element (Random Access Memory), a timer element or a timer.
  • a processor element Central Processing Unit, CPU
  • a memory element such as e.g. a flash memory element and / or a RAM memory element (Random Access Memory)
  • a timer element or a timer e.g. a timer.
  • the at least one transmitting / receiving unit of the sensor / actuator arrangement is coupled by means of at least one electrical supply voltage terminal with an electrical supply voltage.
  • the supply voltage for the operation of the at least one transmitting / receiving unit (or formed in the at least one transmitting / receiving unit elements / components) and for the operation of the at least one sensor element and / or the at least one actuator element, which is electrically coupled to the second transmitting / receiving element of the at least one transmitting / receiving unit, required energy can be made available.
  • the at least one transmitting / receiving unit is connected to the supply voltage by means of a plurality of connections, failures of the at least one transmitting / receiving unit can either be completely avoided or at least the probability of such failures can be significantly reduced by the redundancy achieved thereby.
  • the at least one transmitting / receiving unit has at least one switching element, which is electrically coupled at least one switching element to the at least one electrical supply voltage terminal.
  • at least one switching element is inserted at the at least one supply voltage connection.
  • the at least one switching element may be formed as an electronic switch, which is set up so that in the case of an electrical short circuit in the sensor / actuator arrangement of the relevant supply branch (supply voltage branch) is switched off by means of the switch.
  • the switching element is therefore also referred to as a power switch.
  • the at least one transmitting / receiving unit or the elements formed in the at least one transmitting / receiving unit can be protected from the negative effects of a short circuit (for example damage to the elements due to high current), by demonstrating the supply branches, at which a short circuit occurs, are decoupled from the transmitting / receiving unit.
  • a short circuit for example damage to the elements due to high current
  • the sensor / actuator arrangement has at least one sensor element, wherein the at least one sensor element as a proximity sensor (eg as a capacitive proximity sensor) and / or as a temperature sensor and / or as a pressure sensor and / or as an optical sensor and / or may be formed as an acoustic sensor.
  • the at least one sensor element can also be designed as another type of sensor.
  • the senor / actuator arrangement has at least one actuator element (also called actuator element), wherein the at least one actuator element can be designed as a display element such as a light emitting diode (LED).
  • actuator element also called actuator element
  • LED light emitting diode
  • the at least one actuator element can also be embodied as another display element or imaging element, such as e.g. as a liquid crystal display unit (LCD) and / or as a sound wave generating element (e.g., speaker) and / or as a vibration generating element.
  • another display element or imaging element such as e.g. as a liquid crystal display unit (LCD) and / or as a sound wave generating element (e.g., speaker) and / or as a vibration generating element.
  • the sensor / actuator arrangement has a plurality of sensor elements and / or a plurality of actuator elements, and a plurality of at least partially with each other and / or with the plurality of sensor elements and / or with the plurality of actuator elements electrically coupled transmitting / receiving units, wherein the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transmitting / receiving units are formed on or in a surface (or a sheet).
  • the area may be a floor area;
  • the surface may be part of a walkable and / or driveable flooring, generally a flooring on which movable objects and / or persons may move, such as a carpet or a parquet / laminate.
  • the surface may be a wall surface, generally any surface or sheet.
  • a sensor / actuator arrangement with a plurality of sensor elements and / or a plurality of actuator elements and a plurality of transceiver units, which transceiver units at least partially with each other and / or with the plurality of sensor elements and / or with the plurality are electrically coupled by actuator elements, is illustratively formed as a network of at least partially coupled to each other, in other words networked, transmitting / receiving units, wherein the transmitting / receiving units Moreover, at least partially coupled or networked with the plurality of sensor elements and / or with the plurality of actuator elements.
  • the sensor / actuator arrangement is therefore also referred to below as a sensor / actuator network or short network, and the transmitting / receiving units of this network are referred to below as network elements.
  • the network elements can be connected to one another and / or to the sensor elements and / or to the actuator elements and / or to the supply voltage with the aid of conductive tracks or interconnects (or with the aid of any other electrically conductive elements).
  • the conductive tracks (or the electrically conductive elements) can be incorporated or integrated into the surface, in a carpet (generally textile structure) formed surface, the electrically conductive paths can be woven, for example in the carpet (the textile structure).
  • the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transmitting / receiving units are formed in a surface covering the surface.
  • the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transceiver units may be formed, for example embedded, in a panel or surface-covering structure of the area.
  • the surface covering structure may be formed, for example, as a wall cladding structure (wall cladding) of a wall surface, as a floor cladding structure (floor cladding) of a floor surface or as a ceiling cladding structure (ceiling cladding) of a ceiling surface.
  • the surface covering structure may be formed as a lining of any surface or of any desired sheet.
  • wall cladding or ceiling cladding is the viewer of the cladding structure facing away, in other words: not visible, side of the cladding structure, clearly the back of the cladding structure to understand.
  • An advantage of forming the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transmitting / receiving units on the underside of the surface covering structure can be seen in the fact that the visual impression of the surface not by the sensor elements and / or actuator elements and / or transmitting / receiving units is impaired.
  • each transmitting / receiving unit or each network element of the sensor / actuator network is coupled to the electrical supply voltage by means of at least two supply voltage connections.
  • a switching element (power switch) may be inserted, which automatically shuts off the relevant supply branch in the event of a short circuit in the network.
  • a switching element power switch
  • a so-called power routing can prevent a short circuit in the network from pulling down the supply voltage on all network elements.
  • the supply voltage in the sensor / actuator network has a value which is above the supply voltage value necessary for a single transceiver unit (network element).
  • network element a single transceiver unit
  • transmission losses in the network can be kept low and thus a secure operation of the network or network elements can be ensured.
  • One or more of the network elements can therefore have a voltage regulator with the aid of which the voltage can be regulated down to the value suitable for the network element.
  • the plurality of sensor elements and / or the plurality of actuator elements and / or the plurality of transmitting / receiving units are arranged in a regular grid, for example in a regular rectangular grid or in a square grid or in a triangle grid.
  • each network element of the sensor / actuator network may be electrically coupled (e.g., by means of supply voltage lines) to all of the immediately adjacent network elements, i. in a regular rectangular grid or in a square grid with four adjacent network elements.
  • the sensor / actuator arrangement or the sensor / actuator network has at least one transceiver, which transceiver is set up for wireless communication with at least one of the second transmitting / receiving elements of the plurality of transmitting / receiving units (network elements) and / or with at least one mobile object located on the surface.
  • the at least one transceiver may be configured as a local transceiver, i. in that the transceiver only communicates with the second transceiver elements of those network elements, which network elements are nearby, i. for example, within a spherical environment having a given radius, the transceiver.
  • communication between an on-surface moving object (e.g., a robotic vehicle) and a local transceiver may occur only when the object is in proximity to the local transceiver, i. when the distance between the object and the local transceiver falls below a predetermined value.
  • communication takes place between a local transmitting / receiving device and a second transmitting / receiving element of a network element and / or between the local transmitting / receiving device and a moving object only when the second transmitting / receiving element Receiving element or the movable object are within the reception range of the local transmitting / receiving device.
  • the at least one transceiver device at any location which provides a substantially undisturbed communication with a second transceiver element or with a plurality of the second transceiver elements or with all second transceiver elements of a sensor - / Actuator arrangement ensures that can be designed. In particular, it is in In the case of a sensor / actuator network integrated in a surface covering, it is not necessary that the transmitting / receiving device is likewise formed in the surface covering.
  • the second transmitting / receiving element In the communication between the at least one transmitting / receiving device and a second transmitting / receiving element designed as RF element of a transmitting / receiving unit or a network element, which second transmitting / receiving element with a sensor element and / or with an actuator element is coupled, the second transmitting / receiving element sensor events to the at least one transmitting / receiving device (as a wireless signal at the second transmission / reception frequency) forward or from the at least one transmitting / receiving device commands for activating the actuator element (Actuator) received as a wireless signal at the third transmission / reception frequency.
  • the configured as an RF element second transmitting / receiving element can thus communicate wirelessly with at least one mounted in the transmission range of the RF element transmitting / receiving device.
  • the sensor / actuator arrangement may alternatively be arranged such that a transceiver device communicates with a given second transceiver element, which in turn communicates with a part or all of the other second transceiver elements of the sensor / actuator.
  • Actuator arrangement communicates.
  • the second transmitting / receiving element which communicates with the transmitting / receiving device, can be clearly referred to as a master element.
  • the sensor / actuator arrangement or the sensor / actuator network has at least one control device, which control device is set up to communicate with the at least one transceiver device and / or or with the at least one moving object located on the surface.
  • the at least one control device may be designed as a central control device, e.g. as a central workstation such as a PC (personal computer) or a workstation.
  • a central control device e.g. as a central workstation such as a PC (personal computer) or a workstation.
  • the at least one control device may also be located in the at least one mobile object, e.g. in an autonomous robotic vehicle.
  • the communication of the control device with the at least one transceiver and / or with the at least one on-surface moving object can be accomplished by means of a wireless communication channel, e.g. using a Bluetooth transmission standard or wireless local area network (WLAN) transmission standard.
  • a wireless communication channel e.g. using a Bluetooth transmission standard or wireless local area network (WLAN) transmission standard.
  • the communication between the at least one control device and the at least one transmit / receive device can be wired, for example by means of powerline communication (PLC), using a European Installation Bus (EIB) standard or using a local area network (LAN) bus standard.
  • PLC powerline communication
  • EIB European Installation Bus
  • LAN local area network
  • the communication between the at least one control device and the at least one transceiver device may alternatively take place using an optical data transmission device, for example using glass fibers or fiber optic cables.
  • the sensor / actuator arrangement or the sensor / actuator network can be set up such that with the aid of the sensor elements and / or the transceiver units information about the positions of moving objects and / or persons located on the surface detected and / or provided, which information is used to locate the objects and / or people; and / or that with the aid of the actuator elements and / or the transceiver units, information can be provided to the objects and / or persons located on the surface, which information serves to guide the objects and / or persons on the surface.
  • One aspect of the invention can be seen in providing on any surface an opportunity to locate, for example, movable items (objects), vehicles and / or persons (in other words, the positions of the objects, vehicles or persons) to determine on the surface) and to enable navigation by means of a central or local control device.
  • a sensor / actuator network ie a network of at least partially coupled to each other and with sensor elements and / or actuator elements network elements are attached.
  • the network elements can be connected to each other and to a supply voltage by means of conductive tracks. Short circuits in the network can be avoided by means of a power routing method, as described eg in [2].
  • the supply voltage connections of each network element can each be tested for short circuits with the aid of an internal processor of the respective network element.
  • the connections, which show no short circuit, can be connected to the network element with low resistance, and Terminals with short circuits can be switched off electronically, for example by using switching elements (electronic switches or power switches).
  • the network elements of the network can thus be successively checked for short circuits, wherein the fault-free connections (ie the connections which do not have a short circuit) can be connected to the network element in a low-impedance manner for each individual network element and faulty connections (ie connections with short-circuits) are disconnected (disconnected) ) can be.
  • each network element comprises at least a first transceiver element and a second transceiver element, one or both of which are implemented as RF elements for wirelessly transmitting or receiving signals (data) could be.
  • data transmitted (transmitted) or received from the first transmitting / receiving element and / or from the second transmitting / receiving element can be transmitted wirelessly, e.g. to a local transmission / reception device arranged in the transmission range of the respective transmission / reception element.
  • the network elements can be arranged in a regular grid and can with different sensors such as proximity sensors, temperature sensors, pressure sensors, etc. and / or with actuators (actuators) such as LEDs (LEDs) to be electrically coupled.
  • actuators such as LEDs (LEDs)
  • Arranged in the surface actuator elements (actuators) such as LEDs can be activated by a central control device from individually or in groups.
  • the invention thus makes it possible, for example, to provide large-area sensor systems and / or display systems.
  • Another aspect of the invention can be seen in the fact that with the aid of the sensor / actuator arrangement or the sensor / actuator network in an environment in which several movable devices (objects) and / or persons are located, an improved Obstacle avoidance can be achieved.
  • an improved Obstacle avoidance can be achieved.
  • the active sensor system for example, a person or a vehicle that comes around a corner of a building, already be considered by the system so that oncoming vehicles can be braked without visual contact must exist.
  • a person moving along, for example, an area of a first corridor provided with a sensor / actuator arrangement can be located and the person's movement tracked by the person's individual sensor elements the surface triggered sensor events (in particular the spatial and temporal sequence of sensor events), which for example by wireless coupled to the sensor elements second transmitting / receiving elements transmitted to local transmitting / receiving devices and from there to a central control device (wireless or wired ) are evaluated by the central control facility.
  • the surface triggered sensor events in particular the spatial and temporal sequence of sensor events
  • an autonomous robotic vehicle in a second corridor crossing the first corridor which communicates with the aid of wireless communication with the first transceiver elements of the transceiver units and / or the local transceiver devices and / or the central one Control device oriented on or on the surface whose trajectory is tracked on the surface of the second corridor and extrapolated on the basis of the motion parameters of the vehicle (eg speed vector, acceleration vector).
  • the robot vehicle can be braked in time by transmitting suitable control signals and a possible collision with the person avoided.
  • the motions of two or more moving objects may be tracked on the surface, and collisions avoided if necessary by communicating appropriate control signals to one or more of the objects.
  • the invention can be used to advantage in the localization of cleaning robots or transport vehicles, in customer counting systems or customer management systems, e.g. in supermarkets, airports, hospitals, or generally in public or private buildings.
  • Other application examples are tracking (i.e., tracking) of persons, for example for security areas, as a burglary alarm or for building automation, as well as light displays in the ground for the display of emergency exits or for advertising purposes.
  • a sensor / actuator arrangement designed as a sensor / actuator network has a plurality of transmitting / receiving units or network elements, which network elements are integrated in a regular grid in a surface covering structure can.
  • the network elements can be interconnected by means of tracks or any other electrically conductive elements be connected and may also be coupled to a supply voltage.
  • This has the advantage, for example, that the network elements can be operated maintenance-free and enough power is available for a wide variety of sensors and actuators (actuators).
  • the data communication to local transmitting / receiving devices or to a central control device (eg central PC) or to autonomous robotic vehicles can be wireless, for example using at least two different transmit / receive frequencies.
  • the network elements may have a unique identification number, which identification number in the installation of the system (ie the sensor / actuator assembly) once in a mapping can be adopted.
  • the system may also include an implemented self-test that is also wirelessly initiated.
  • a first transmit / receive frequency may be used to communicate autonomous vehicles and / or moving objects with the network elements.
  • a second transmit / receive frequency may be used for communication between the network elements and the local transmit / receive devices for communicating the sensor events (sensor signals) and the actuator control signals.
  • a third Seride- / Empfangsfrequenz be used for the transmission of the actuator control signals.
  • a fourth transmission / reception frequency may be used for communication between local transceivers and the autonomous vehicles or the central control device.
  • the second transmitting / receiving element transmits its identification number (ie, its unique identification information) wirelessly, for example at regular intervals.
  • the transmission power of this regular signal (also referred to as "ping") can be selected so that this signal can only be read in the immediate vicinity of the transmitting / receiving unit by a suitable reading device. From the pings arriving at this reading device, the exact position of the reading device can be calculated by means of a so-called triangulation method.
  • the second transmitting / receiving element can send out additional identification information or an additional identifier.
  • the pings used for localization can be transmitted by other messages of the second transceiver element (for example sensor signals provided by a sensor element, which are likewise transmitted by means of the second transceiver element) ).
  • the reading device is attached to a mobile object, eg a vehicle (for example an autonomous robot vehicle)
  • the exact position of the object can be calculated.
  • a spatial resolution can be achieved, which is higher than the spatial resolution of the arrangement of the transmitting / receiving units.
  • the at least one first transmitting / receiving element in the at least one transmitting / receiving unit is not required. That is, according to this embodiment, only the second transmitting / receiving element is present in the transmitting / receiving unit.
  • the second transmitting / receiving element can therefore be in In this case, simply be referred to as a transmitting / receiving element.
  • FIG. 1A shows a sensor / actuator assembly 100 according to a first embodiment of the invention.
  • the sensor / actuator arrangement 100 has a sensor element 101 and a transmitting / receiving unit 102.
  • the transmitting / receiving unit 102 has a first transmitting / receiving element 103 and a second transmitting / receiving element 104 for transmitting and / or receiving signals.
  • the first transmitting / receiving element 103 contains a unique identification information 105 for the transmitting / receiving unit 102, which can be read out by means of a first communication channel with the aid of a wireless signal having a first transmission / reception frequency f 1 (by the antenna symbol 106 in 1A characterized), eg by a reading device (not shown in FIG. Figure 4 ).
  • the second transmitting / receiving element 104 is electrically coupled to the sensor element 101 (through the coupling line 107 in FIG 1A characterized in that the second transmitting / receiving element 104 can transmit a sensor signal S sensor provided by the sensor element 101 by means of a second communication channel (indicated by the arrow 109 in FIG 1A in).
  • the second transmitting / receiving element 104 is set up so that the sensor signal S sensor can be transmitted as a wireless signal at a second transmission / reception frequency f 2 (by the antenna symbol 108 in FIG 1A illustrated), eg to a local transceiver (not shown, cf. Figure 4 ), wherein the second transmission / reception frequency f 2 is different from the first transmission / reception frequency f 1 .
  • the first communication channel and the second communication channel are thus in the in 1A shown Embodiment each set up as a wireless communication channel.
  • the second transmitting / receiving element 104 may be configured so that the sensor signal S sensor can be sent as a wired signal.
  • FIG. 1B shows a sensor / actuator assembly 100 'according to a second embodiment of the invention.
  • the sensor / actuator arrangement 100 ' has an actuator element 110 and a transmitting / receiving unit 102'.
  • the transmitting / receiving unit 102 ' has a first transmitting / receiving element 103' and a second transmitting / receiving element 104 'for transmitting and / or receiving signals.
  • the first transmission / reception element 103 ' contains a unique identification information 105' for the transmission / reception unit 102 ', which can be read out by means of a first communication channel with the aid of a wireless signal having the first transmission / reception frequency f 1 (analog to 1A through the antenna symbol 106 in FIG 1B in).
  • the second transmitting / receiving element 104 is electrically coupled to the actuator element 110 (analogous to FIG 1A through the coupling line 107 in FIG 1B characterized in that an actuator control signal S actuator received by means of a second communication channel can be provided on the actuator element 110 (indicated by the arrow 111 in FIG 1B in).
  • the second transmitting / receiving element 104 ' is set up so that the actuator control signal S actuator can be received as a wireless signal with a third transmission / reception frequency f 3 (by the antenna symbol 108' in FIG 1B illustrated), wherein the third transmission / reception frequency f 3 is different from the first transmission / reception frequency f 1 .
  • the third transmission / reception frequency f 3 may be related to 1A be mentioned identical second transmission / reception frequency f 2 .
  • the actuator control signal S actuator may be provided, for example, by a local transceiver (not shown).
  • the second transmitting / receiving element 104 ' may be configured so that the actuator signal S actuator can be received as a wired signal.
  • Fig.2 shows a transmitting / receiving unit 202 of a sensor / actuator arrangement according to an embodiment of the invention.
  • the transmitting / receiving unit 202 has a first transmitting / receiving element 203 embodied as an RF element, as well as a second transmitting / receiving element 204 likewise designed as an RF element.
  • the first transmitting / receiving element 203 is designed as a passive RF element (eg as a passive RFID tag) and contains a for the transmitting / receiving unit 202 unique identification information 205 (or identifier), for example in the form of a unique identifier number, which with a wireless signal with a first transmission / Reception frequency f 1 can be read out wirelessly (by the antenna icon 206 in Fig.2 illustrated).
  • the transmitting / receiving unit 202 furthermore has an electrical connection 212, which can be coupled to a sensor element or an actuator element (by the coupling line 207 in FIG Fig.2 characterized in that sensor signals S sensor may be received at the electrical terminal 212 (illustrated by the arrow 209) or actuator control signals S actuator may be provided at an actuator element coupled to the electrical terminal 212 (illustrated by the arrow 211).
  • the electrical terminal 212 serves to receive input signals (input signals) of one with the electrical connection 212 coupled sensor element or for providing output signals (output signals) to a coupled to the electrical terminal 212 actuator element.
  • the electrical connection 212 is also coupled to the second transmission / reception element 204, so that, for example, a sensor signal S sensor (input signal) received at the electrical connection 212 can be forwarded to the second transmission / reception element 204, which second transmission / reception element 204 then sends the sensor signal S sensor as a wireless signal with a second transmission / reception frequency f 2 , which is different from the first transmission / reception frequency f 1 , eg to a local transmission / reception device (not shown, cf. Figure 4 ) in the vicinity of the transceiver 202, which is indicated by the antenna symbol 208 in FIG Fig.2 is marked.
  • a sensor signal S sensor input signal
  • 204 wirelessly received actuator control signal S actuator with a third transmission / reception frequency f 3 (where f 3 can be equal or unequal f 2 of the second transmitting / receiving element ) may be provided to the electrical terminal 212 coupled to the second transmitting / receiving element 204, and thus may be provided to an actuator element coupled to the electrical terminal 212.
  • electrical connection 212 may further electrical connections for electrical contacting of sensor elements and / or actuator elements in the transmitting / receiving unit 202 may be formed (not shown), which terminals may also be electrically coupled to the second transmitting / receiving element 204.
  • the second transmitting / receiving element 204 of a plurality of sensor elements sensor signals S sensor receive and / or actor control signals S forward actuator to a plurality of actuator elements.
  • the transmitting / receiving unit 202 further includes a processor core 213 having a CPU (Central Processing Unit), a flash memory device, a RAM memory device and a timer element.
  • a processor core 213 having a CPU (Central Processing Unit), a flash memory device, a RAM memory device and a timer element.
  • the transmitting / receiving unit 202 is further connected to a supply voltage source by means of a first supply voltage terminal 214a, a second supply voltage terminal 214b, a third supply voltage terminal 214c and a fourth supply voltage terminal 214d.
  • the supply voltage provided by the supply voltage source supplies the energy required for the operation of the transceiver unit 202 and possibly to the transceiver unit and / or actuator elements.
  • the first transmitting / receiving element 203 designed as a passive RF element can obtain the energy required for its operation from the electromagnetic field of the readout signal and can therefore also be functional without coupling to the supply voltage source.
  • the transmitting / receiving unit 202 is connected by means of several (ie of the four in Fig.2 Supply voltage terminals 214a, 214b, 214c, 214d connected to the supply voltage in order to avoid a failure of the transmitting / receiving unit 202 by redundancy.
  • the transmitting / receiving unit 202 may be formed in a network of a plurality of at least partially coupled to each other and with a plurality of sensor elements and / or actuator elements transmitting / receiving units (see. Figure 3 ), which transmit / receive units in a regular Raster (eg rectangular grid or square grid) can be arranged.
  • a transmitting / receiving unit 202 embodied in such a network of transmitting / receiving units or sensor elements / actuator elements (sensor / actuator network) is also referred to below as a network element of the sensor / actuator network.
  • the transmitting / receiving unit 202 (or the network element 202) can be connected to at least one other network element and up to four other network elements (transmitting / receiving units) Neighboring sites of the grid are located, be coupled (see. Figure 3 ).
  • a switching element (electronic switch or power switch) is inserted, which automatically shuts off the relevant supply branch in the event of a short circuit in the network. That is, a first switching element 215a is electrically coupled to the first supply voltage terminal 214a, a second switching element 215b is electrically coupled to the second supply voltage terminal 214b, a third switching element 215c is electrically coupled to the third supply voltage terminal 214c, and The fourth switching element 215d is electrically coupled to the fourth supply voltage terminal 214d.
  • the value of the supply voltage in the network can be above the necessary supply voltage of the network element 202 in order to keep transmission losses low and to ensure a reliable function.
  • the mains voltage can be selected higher than the supply voltage of the network element 202, whereby a lower-loss energy transmission in the network can be achieved, and thereby also can be achieved that voltage drops in the network do not cause the Voltage at the network element 202 (and possibly other network elements) drops below the operating voltage.
  • transmitting / receiving unit 202 and the network element 202 has a voltage-regulating element (switching supply) 216 and voltage regulator 216, which voltage control element 216 is set up so that with the aid of the voltage-regulating element 216 the voltage can be regulated down to the value required for the network element 202.
  • switching supply switching supply
  • voltage regulator 216 which voltage control element 216 is set up so that with the aid of the voltage-regulating element 216 the voltage can be regulated down to the value required for the network element 202.
  • FIG. 3 shows a sensor / actuator assembly 300 according to a third embodiment of the invention.
  • the sensor / actuator arrangement 300 has a plurality of sensor elements 301, as well as a plurality of transmitting / receiving units 302, each transmitting / receiving unit 302 (more precisely a second transmitting / receiving element embodied in the transmitting / receiving unit, cf. , 1A ) is electrically coupled to one sensor element 301 (by the coupling lines 307 in FIG Figure 3 in).
  • the sensor / actuator arrangement 300 is designed as a network of transmitter / receiver units 302 (also referred to below as network elements 302) arranged in a regular rectangular grid, wherein the transmitter / receiver units (network elements) 302 are connected by means of supply voltage lines VDD (high electrical Potential) and GND (ground potential) are coupled together and to an electrical supply voltage source (not shown).
  • Each network element 302 is coupled with its four closest neighbors in the raster, ie the network elements 302 on the four nearest neighbor sites.
  • a network element 302 may have four electrical supply voltage terminals, as well as four switching elements to avoid short circuits in the network 300, wherein each one switching element may be coupled to one of the four electrical supply voltage terminals (see. Fig.2 ).
  • the sensor elements 301 and the network elements 302 of the sensor / actuator network sensor-actuator arrangement 300 are formed in a surface-covering structure of a surface (eg a floor covering of a floor), and the network elements 302 are connected to one another via the supply voltage lines VDD or GND connected.
  • a sensor element 301 is connected to each network element 302 of the sensor / actuator network 300, the sensor elements 301 having sensor surfaces, which sensor surfaces are formed between the supply voltage lines VDD and GND.
  • a network element may also be coupled to a plurality of sensor elements.
  • a network element 302 of the sensor / actuator arrangement 300 may, for example, be coupled to two or more of the sensor elements 301 immediately adjacent to the network element 302.
  • a network element of a sensor / actuator arrangement can be coupled to eight sensor elements, which sensor elements can have a triangular shape.
  • a sensor element may alternatively be coupled to a plurality of network elements.
  • one sensor element 301 of the sensor / actuator assembly 300 may be coupled to two or more of the immediately adjacent network elements 302.
  • a person located on the surface eg the floor
  • a sensor surface may generate a sensor signal in a pressure sensor.
  • the pressure sensor is triggered by the occurrence of a sensor event (triggered by an on the surface a sensor signal to the coupled with the pressure sensor transmitting / receiving unit 302 (or the second transmitting / receiving element of the corresponding transmitting / receiving unit 302) passed and from there as a wireless signal (alternatively as a wired signal eg by means of Powerline Communication, PLC) eg sent to a local transmitting / receiving device, cf.
  • PLC Powerline Communication
  • the sensor signal can be forwarded to a central control device (eg PC), which evaluates the signal and determines the position of the person.
  • a central control device eg PC
  • sensor events are successively triggered by different sensor elements (eg pressure sensors) and correspondingly forwarded as sensor signals to the coupled transceiver units (network elements), which transceiver units transmit the sensor signals wirelessly (or alternatively wired for example by means of a PLC) to a local transmitting / receiving device, from where the signals can be forwarded wirelessly (eg by means of Bluetooth or WLAN) or by wire (eg by means of PLC, LAN or EIB) to the central control device.
  • the central control device can evaluate the temporal and spatial sequence of the triggered sensor events and thus track the movement of the person.
  • FIG. 4 shows a sensor / actuator arrangement (sensor / actuator network) 400 according to a fourth embodiment of the invention.
  • the sensor / actuator arrangement 400 has a plurality of transmission / reception units (network elements) 402 coupled to one another and to a supply voltage source (not shown) by means of supply voltage lines VDD (high electrical potential) and GND (electric potential) Transmit / receive units 402 each designed as a passive RFID tag first transmitting / receiving element 403 with a for the transceiver unit 402 has unique identifier information 405 (unique identification number of the RFID tag 403) and a second transceiver element 404 embodied as an RF element, the second transceiver element 404 of each transceiver unit 402 is each electrically coupled to a sensor element 401 (through the coupling line 407 in FIG Figure 4 in).
  • the sensor element 401 is designed as a proximity sensor, which proximity sensor has a sensor surface 401a.
  • the transmitting / receiving units 402 and the sensor elements 401 (including the sensor surfaces 401 a) of the sensor / actuator arrangement 400 are formed or integrated in a surface covering of a floor surface 450.
  • a moving object located on surface 450 eg, a robotic vehicle 451 having a read device configured for wireless communication (indicated by antenna symbol 452 in FIG Figure 4 illustrated), when passing over a transmitting / receiving unit 402 can detect this and can in the first transmitting / receiving element 403 (ie the passive RFID tag 403) of the transmitting / receiving unit 402 included identification information 405 using a first communication channel by means of a wireless signal with a first transmission / reception frequency f 1 (eg 13.56 MHz) read wirelessly.
  • f 1 eg 13.56 MHz
  • the robot vehicle 452 can determine its current position, for example by virtue of the robot vehicle 452 being able to read the information transmitted in the first transmission
  • Identification information 405 ie the identification number of the RFID tag 403 is transmitted to the central control device 419 (eg using a Bluetooth standard or a WLAN standard) and an alignment by means of a wireless communication channel with the in the control device 419 stored mapping.
  • the function of the RFID tag 403 can be stored directly in the processor nodes of a processor (cf. Fig.2 ) of a network element 402.
  • a sensor element or proximity sensor 401 triggers a sensor signal when a person 451 located on the surface 450 is in the vicinity of the proximity sensor 401.
  • the sensor signal is transmitted from the sensor element 401 to the second transmitting / receiving element 404 of the transmitting / receiving unit 402, which is electrically coupled to the sensor element 401.
  • a sensor signal is generated by the sensor surface 401a in the sensor 401, and the sensor 401 "signals" this sensor signal to the second transmitting / receiving element 404.
  • the identification number of the transmitting / receiving unit 402 is detected using a second communication channel by means of a wireless signal having a second transmission / reception frequency f 2 (eg 868 MHz) a local transceiver 417 is sent which local transceiver 417 with the second transceiver elements 404 of the transceiver located in the environment (ie in the transceiver) of the local transceiver 417 / Receiving units 402 communicates wirelessly (at frequency f 2 ) (indicated by antenna symbol 418).
  • a wireless signal having a second transmission / reception frequency f 2 (eg 868 MHz)
  • a local transceiver 417 is sent which local transceiver 417 with the second transceiver elements 404 of the transceiver located in the environment (ie in the transceiver) of the local transceiver 417 /
  • Receiving units 402 communicates wirelessly (at frequency f 2 ) (indicated by antenna symbol 418).
  • an evaluation can be carried out in the local transmitting / receiving device 417 or in the central control device 419, for example by calculating trajectories.
  • the second transmitting / receiving element 404 may be one or more of those formed in the surface covering of the floor surface 450
  • the actuator element can be designed, for example, as light-emitting diodes (LEDs) integrated in the floor covering, and used, for example, to indicate an escape route.
  • LEDs light-emitting diodes
  • the local transceiver 417 and the central controller 419 wirelessly communicate with a fourth transmit / receive frequency f 4 (for example, using a Bluetooth standard, a WLAN standard, or other suitable wireless standard -Communication).
  • a fourth transmit / receive frequency f 4 for example, using a Bluetooth standard, a WLAN standard, or other suitable wireless standard -Communication.
  • the local transceiver 417 and the central controller 419 may be wired to each other, for example, using a home bus system (eg, EIB bus), a powerline communication device, or other suitable wired communication path .
  • the central control device 419 can according to the specifications trigger various functions such as emergency call, burglar alarm, display functions, among others.
  • robotic vehicle 452 shown may also communicate wirelessly (eg, at the fourth transmit / receive frequency f 4 ) with local transmit / receive device 417 or directly with central control device 419 (eg, the central PC) as needed.
  • central control device 419 eg, the central PC
  • Figure 6 illustrated flow diagrams 500 and 600 individual steps during installation or during commissioning as a sensor / actuator network in a surface covering structure a surface formed sensor / actuator assembly described.
  • a mapping of the network elements is made (step 502).
  • a coordinate system can be inscribed in the surface trim structure.
  • the data of the mapping is forwarded to the central controller (step 503).
  • the central control device may for example be a central PC or even be mounted in a robotic vehicle itself. The process of mapping can be done manually or automatically via a suitable robotic vehicle. In any case, mapping will be a one-time or at least infrequent process of installing the system.
  • the next phase of commissioning occurs when the operating voltage ("power on”) is applied to the surface covering structure (step 601 in FIG Figure 6 ).
  • a power routing method may be performed similarly to that described in [2] (step 602). If a supply voltage is applied to a network element or to a plurality of network elements, then an internal processor of the network element can test the further supply voltage connections of the network element for short circuits. All connections that do not show a short circuit can have a low resistance to the network element be connected. Terminals with short circuits can be switched off electronically, for example using switching elements ("power switches").
  • short circuits in the network can be automatically localized (ie the positions of the network elements or the connections, which network elements or connections have short circuits can be determined), and the shorts can be eliminated automatically using electronic switches.
  • the state of the switching elements or switches can be stored in the processor of the network element and in the subsequent phase, the self-test of the network (step 603), to the local transmitting / receiving device (and from there to the central control device) or be routed directly to the central control facility.
  • the local transceiver means by means of the second transceiver frequency f 2, can successively address each individual network element according to the previous mapping and can receive feedback from the respective network element, which feedback confirms the function of the network element and further the state the switching elements (switches) and other functional elements such as sensor elements (sensors) and / or actuator elements (actuators) can describe.
  • the functional state can be automatically transferred to the mapping. If the feedback of a network element is missing, an error message can be generated for this point of the surface covering structure.
  • mapping in a self-test of the system using the local transceiver, all the network elements present on the mapping can be individually addressed, tested in turn on their function and any error messages are included in the mapping.
  • step 604 After self-testing the sensor / actuator network and transmitting the data to the central controller, the system is functional and can begin regular operation (step 604).
  • Autonomous vehicles or moving objects which are equipped with a reading device or a transmitting / receiving element for the frequency f1, recognize this when passing over a network element and obtained via its identification number and the mapping stored in the central control device is, their current position.
  • a person walking over a sensor surface of the surface covering structure triggers a signal when the network element has, for example, a capacitive proximity sensor.
  • This signal can be transmitted wirelessly by means of the frequency f 2 from a second transmitting / receiving element of the network element designed as an RF element to the local transmitting / receiving device.
  • the local transmitting / receiving element can calculate eg trajectories and define events such as burglary, fall of a person or eg last person leaves the room. In turn, corresponding actions such as burglar alarm, emergency call or energy-saving mode can be triggered.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (15)

  1. Ensemble de revêtement de surface, comprenant :
    • un revêtement de surface pourvu
    - d'au moins un élément capteur (401) ;
    - d'au moins une unité d'émission/de réception (402), laquelle comprend au moins un premier élément émetteur/récepteur (403) et un second élément émetteur/récepteur (404) destiné à émettre et/ou à recevoir des signaux ;
    - le premier élément émetteur/récepteur (403) étant conçu pour qu'une information caractérisante (405) contenue dans le premier élément émetteur/récepteur (403) puisse être consultée sans fil au moyen d'un premier canal de communication ; et
    - le second élément émetteur/récepteur (404) étant couplé électriquement à ou aux éléments capteurs (401), de telle manière qu'un signal de capteur mis à disposition par le ou les éléments capteurs (401) peut être envoyé au moyen d'un second canal de communication à l'aide du second élément émetteur/récepteur (404) ; et
    • un dispositif de commande central (419), lequel est conçu
    - pour recevoir des objets mobiles (451) situés sur le revêtement de surface l'information caractérisante (405) contenue dans le premier élément émetteur/récepteur (403) et pour l'analyser afin de localiser et/ou de suivre le mouvement d'objets mobiles (451) situés sur le revêtement de surface,
    - pour recevoir le signal de capteur et pour l'analyser afin de localiser et/ou suivre le mouvement de personnes (453) situées sur le revêtement de surface, et
    - pour transmettre des signaux de commande à un ou à plusieurs des objets mobiles (451) sur la base de la localisation et/ou du suivi du mouvement des personnes (453) et/ou des objets mobiles (451).
  2. Ensemble de revêtement de surface selon la revendication 1, le revêtement de surface présentant en outre au moins un élément activateur, et le second élément émetteur/récepteur (404) étant couplé électriquement à l'élément ou aux éléments activateurs, de telle manière qu'un signal de commande d'activateur reçu au moyen du second canal de communication peut être remis à l'élément ou aux éléments activateurs à l'aide du second élément émetteur/récepteur (404).
  3. Ensemble de revêtement de surface selon la revendication 1 ou 2, le premier élément d'émission/de réception (403) étant conçu pour que l'information caractérisante (405) puisse être consultée à l'aide d'un signal sans fil présentant une première fréquence d'émission/de réception (f1).
  4. Ensemble de revêtement de surface selon la revendication 3, le second élément émetteur/récepteur (404) étant conçu pour que le signal de capteur puisse être envoyé sous la forme d'un signal sans fil présentant une deuxième fréquence d'émission/de réception (f2).
  5. Ensemble de revêtement de surface selon la revendication 4, le second élément émetteur/récepteur (404) étant conçu pour que le signal de commande d'activateur puisse être reçu sous la forme d'un signal sans fil présentant une troisième fréquence d'émission/de réception.
  6. Ensemble de revêtement de surface selon l'une quelconque des revendications 1 à 5, l'information caractérisante (405) contenue dans le premier élément émetteur/récepteur (403) étant réalisée sous la forme d'une information caractérisante claire pour la ou les unités d'émission/de réception (402).
  7. Ensemble de revêtement de surface selon l'une quelconque des revendications 1 à 6, le premier élément émetteur/récepteur (403) et/ou le second élément émetteur/récepteur (404) étant réalisés sous la forme d'un élément RF.
  8. Ensemble de revêtement de surface selon la revendication 7, le premier élément émetteur/récepteur (403) étant réalisé sous la forme d'un élément RF passif.
  9. Ensemble de revêtement de surface selon l'une quelconque des revendications 7 à 8, le premier élément émetteur/récepteur (403) étant réalisé sous la forme d'une étiquette RFID.
  10. Ensemble de revêtement de surface, comprenant :
    • un revêtement de surface pourvu
    - d'au moins un élément capteur ;
    - d'au moins une unité d'émission/de réception, laquelle comprend au moins un élément émetteur/récepteur destiné à envoyer et/ou à recevoir des signaux ;
    - l'élément émetteur/récepteur étant conçu pour qu'une information caractérisante contenue dans l'élément émetteur/récepteur puisse être consultée sans fil au moyen d'un canal de communication sans fil à l'aide de l'élément émetteur/récepteur ; et
    - l'élément émetteur/récepteur étant couplé électriquement au ou aux éléments capteurs, de telle manière qu'un signal de capteur mis à disposition par le ou les éléments capteurs peut être envoyé au moyen du canal de communication sans fil à l'aide de l'élément émetteur/récepteur ; et
    • un dispositif de commande central, lequel est conçu
    - pour recevoir des objets situés sur le revêtement de surface l'information caractérisante contenue dans l'élément émetteur/récepteur, et pour l'analyser afin de localiser et/ou de suivre le mouvement d'objets mobiles situés sur le revêtement de surface,
    - pour recevoir le signal de capteur et pour l'analyser afin de localiser et/ou de suivre le mouvement de personnes situées sur le revêtement de surface, et
    - pour transmettre des signaux de commande à un ou à plusieurs des objets mobiles sur la base de la localisation et/ou du suivi du mouvement des personnes et/ou des objets mobiles.
  11. Ensemble de revêtement de surface selon la revendication 10, l'élément émetteur/récepteur étant conçu pour qu'une information caractérisante supplémentaire puisse être envoyée sans fil au moyen du canal de communication sans fil à l'aide de l'élément émetteur/récepteur, cette information caractérisante supplémentaire permettant de faire la distinction entre l'information caractérisante contenue dans l'élément émetteur/récepteur et envoyée sans fil au moyen du canal de communication sans fil et d'autres messages envoyés par l'élément émetteur/récepteur au moyen du canal de communication sans fil.
  12. Ensemble de revêtement de surface selon l'une quelconque des revendications 1 à 11, pourvu
    • d'une pluralité d'éléments capteurs (401) et/ou d'une pluralité d'éléments activateurs ;
    • d'une pluralité d'unités d'émission/de réception (402) couplées électriquement au moins en partie les unes aux autres et/ou à la pluralité d'éléments capteurs (401) et/ou à la pluralité d'éléments activateurs,
    • la pluralité d'éléments capteurs (401) et/ou la pluralité d'éléments activateurs et/ou la pluralité d'unités d'émission/de réception (402) étant formés dans le revêtement de surface.
  13. Ensemble de revêtement de surface selon la revendication 12, la pluralité d'éléments capteurs (401) et/ou la pluralité d'éléments activateurs et/ou la pluralité d'unités d'émission/de réception (402) étant formés sur la face inférieure d'un revêtement de sol et/ou sur la face inférieure d'un revêtement mural.
  14. Ensemble de revêtement de surface selon l'une quelconque des revendications 12 à 13, comprenant au moins un dispositif d'émission/de réception (417) permettant de communiquer sans fil avec au moins un des éléments d'émission/de réception ou les seconds éléments d'émission/de réception (404) de la pluralité d'unités d'émission/de réception (402) et/ou avec au moins un objet mobile (451) situé sur le revêtement de surface.
  15. Procédé permettant de localiser et/ou de diriger des objets mobiles et/ou des personnes sur une surface à l'aide d'un ensemble de revêtement de surface selon l'une quelconque des revendications 12 à 14,
    • les informations concernant les positions d'objets mobiles et/ou de personnes situés sur la surface, lesquelles informations sont utilisées pour localiser les objets et/ou les personnes, étant détectées à l'aide des éléments capteurs et/ou des unités d'émission/de réception ;
    • à l'aide du dispositif de commande central de l'ensemble de revêtement de surface
    - les informations caractérisantes contenues dans les éléments d'émission/de réception étant reçues des objets mobiles situés sur la surface et analysées pour localiser et/ou suivre le mouvement d'objets mobiles situés sur la surface,
    - les signaux de capteur étant reçus des éléments capteurs et analysés pour localiser et/ou suivre le mouvement de personnes situées sur la surface, et
    - sur la base de la localisation et/ou du suivi du mouvement de personnes et/ou d'objets mobiles, des signaux de commande étant transmis à un ou plusieurs des objets situés sur la surface ; et
    • des informations servant à diriger les objets et/ou les personnes sur la surface étant mises à la disposition d'objets mobiles et/ou de personnes à l'aide des éléments activateurs et/ou des unités d'émission/de réception.
EP07711197.9A 2006-02-20 2007-02-16 Disposition de capteur/activateur et procede pour la localisation respectivement le guidage d'objets et/ou de personnes mobiles sur une surface a l'aide d'une disposition de capteur/activateur Active EP1987370B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006007780A DE102006007780B4 (de) 2006-02-20 2006-02-20 Flächenverkleidungs-Anordnung und Verfahren zum Lokalisieren bzw. Leiten von beweglichen Objekten und/oder Personen auf einer Fläche mit Hilfe einer Flächenverkleidungs-Anordnung
PCT/DE2007/000323 WO2007095920A1 (fr) 2006-02-20 2007-02-16 Disposition de capteur/activateur et procede pour la localisation respectivement le guidage d'objets et/ou de personnes mobiles sur une surface a l'aide d'une disposition de capteur/activateur

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US20090115610A1 (en) 2009-05-07
EP1987370A1 (fr) 2008-11-05
DE102006007780B4 (de) 2012-07-26
WO2007095920A1 (fr) 2007-08-30
DE102006007780A1 (de) 2007-08-30

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